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Neuromorphic tactile sensor array based on fiber Bragg gratings to encode object qualities

Prasanna, Sahana and Massari, Luca and Sinibaldi, Edoardo and Detry, Renaud and Bowkett, Joseph and Carpenter, Kalind and Oddo, Calogero Maria (2019) Neuromorphic tactile sensor array based on fiber Bragg gratings to encode object qualities. In: Optics and Photonics for Information Processing XIII. Proceedings of SPIE. No.11136. Society of Photo-optical Instrumentation Engineers (SPIE) , Bellingham, WA, Art. No. 1113608. ISBN 9781510629653. https://resolver.caltech.edu/CaltechAUTHORS:20190909-093503687

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Abstract

Emulating the sense of touch is fundamental to endow robotic systems with perception abilities. This work presents an unprecedented mechanoreceptor-like neuromorphic tactile sensor implemented with fiber optic sensing technologies. A robotic gripper was sensorized using soft and flexible tactile sensors based on Fiber Bragg Grating (FBG) transducers and a neuro-bio-inspired model to extract tactile features. The FBGs connected to the neuron model emulated biological mechanoreceptors in encoding tactile information by means of spikes. This conversion of inflowing tactile information into event-based spikes has an advantage of reduced bandwidth requirements to allow communication between sensing and computational subsystems of robots. The outputs of the sensor were converted into spiking on-off events by means of an architecture implemented in a Field Programmable Gate Array (FPGA) and applied to robotic manipulation tasks to evaluate the effectiveness of such information encoding strategy. Different tasks were performed with the objective to grant fine manipulation abilities using the features extracted from the grasped objects (i.e., size and hardness). This is envisioned to be a futuristic sensor technology combining two promising technologies: optical and neuromorphic sensing.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1117/12.2530733DOIArticle
ORCID:
AuthorORCID
Carpenter, Kalind0000-0002-1085-9949
Additional Information:© 2019 Society of Photo-Optical Instrumentation Engineers (SPIE).
Subject Keywords:Neuromorphic, Fiber Bragg Grating, Tactile Soft sensor, FPGA neuron model, Izhikevich
Series Name:Proceedings of SPIE
Issue or Number:11136
Record Number:CaltechAUTHORS:20190909-093503687
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190909-093503687
Official Citation:Sahana Prasanna, Luca Massari, Edoardo Sinibaldi, Renaud Detry, Joseph Bowkett, Kalind Carpenter, and Calogero Maria Oddo "Neuromorphic tactile sensor array based on fiber Bragg gratings to encode object qualities", Proc. SPIE 11136, Optics and Photonics for Information Processing XIII, 1113608 (6 September 2019); https://doi.org/10.1117/12.2530733
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:98514
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:09 Sep 2019 18:06
Last Modified:09 Mar 2020 13:18

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